An adaptive UKF algorithm and its application in mobile robot control
文献类型：会议论文
| 作者 | Song Q(宋崎); Qi JT(齐俊桐) ; Han JD(韩建达)
|
| 出版日期 | 2006 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2006) |
| 会议日期 | December 17-20, 2006 |
| 会议地点 | Kunming, China |
| 关键词 | adaptive UKF innovation MIT process covariance |
| 页码 | 1117-1122 |
| 通讯作者 | 宋崎 |
| 中文摘要 | In order to improve the performance of the UKF a novel adaptive filter method is proposed. The error between the covariance matrixes of innovation measurements and their corresponding estimations/predictions is utilized as the cost function. Based on the MIT nile, an adaptive algorithm is designed to online update the covariance of the process uncertainties by minimizing the cost function. The updated covariance is further fed back into the normal UKF. Such an adaptive mechanism is intended to compensate the lack on the priori. knowledge of process uncertainty distribution and improve the performance of UKF for the applications such as active state and parameter estimations. Simulations are conducted with respect to the dynamics of an omni-directional mobile robot, and the results obtained by the proposed AUKF are compared with those by normal UKF to demonstrate the effectiveness and improvements. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ |
| 会议录 | 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0570-1 |
| WOS记录号 | WOS:000245907301096 |
| 源URL | [http://ir.sia.cn/handle/173321/8555]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Song Q,Qi JT,Han JD. An adaptive UKF algorithm and its application in mobile robot control[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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